科研之友
微信
新浪微博
Facebook
分享链接
摘要
In the previous study, the minimum time and energy have been both considered to improve the efficiency and reliability of the manipulator operations. For further guaranteeing the tracking precision of end effector, a TE-E optimal planning technique is presented in this paper to optimize the trajectory of end effector. TE-E means two optimization objectives and one constraint condition: T is the total motion time, the first E is the total kinetic energy consumption and the second E is the motion error due to trajectory planning. In this technique, a local optimization process is completed to find a time-energy optimal trajectory, which could improve the movement efficiency and reliability. In this local process, the screw theory is used to obtain the forward and inverse kinematic models for simplifying the computation. The multi-solution situation in inverse kinematic is considered. The modified cubic spline interpolation is applied in the joint space to obtain the good motion stability. The objective function is defined as the weighted sum of two optimization objectives. The local optimal trajectory is obtained by using the particle swarm optimization (PSO) algorithm. Finally, the motion errors are considered as a condition to determine the number of the path points and obtain the final optimal trajectory that has good tracking precision. The simulation experiment for QJ-1 welding manipulator is completed to verify the reliability and validity of this technique. In the optimal trajectory, the relationships between the motion time and parameters for each joint show a good performance in the motion. The comparison of motion errors obtained by using the previous and presented methods proves the validity of this presented technique.
- 出版日期2018-9
- 单位北京工业大学
